It’s not that simple. iOS has a really sophisticated system for deciding which things to keep in memory and which to evict, and it only does that when it needs more resources. Choosing which apps to kill is based on how recently an app was used, how much of share resources are in use, how often the app gets used, if it’s doing background processing, and other more subtle signals.
Usually if people notice apps being killed when in the background a lot it’s because one of the apps they’re switching to is using a lot of resources, which forces the eviction of other apps.
It’s more complicated than that. It’s called USB restricted mode. The lightning port is always willing to do a minimal subset of the protocols that it supports in order to do smart charging. By default most of the protocols it supports are disabled in BFU state. In AFU state it gets more complex than that. Accessories that you’ve previously connected can connect for one hour after the device is locked. This helps keep USB restricted mode from being really annoying if you briefly disconnect and reconnect an accessory.
USB restricted mode can be disabled by a user option (Settings > [Touch / Face] ID & Passcode > Allow Access When Locked > Accessories) or by a configuration profile. Disabling it allows accessories to connect at any time, and generally lowers the security of your device. But in some cases that’s necessary, for instance when you use an accessibility accessory to use your device.
If USB restricted mode is a concern for you, you should consider Lockdown Mode (Settings > Privacy & Security > Lockdown Mode). This changes several settings on your device to make it much more resilient to attack.